54
Curtis 1222 Manual, os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
MOTOR CONTROL TUNING: STEERING SENSITIVITY
ALLOWABLE
PARAMETER RANGE DESCRIPTION
LS Sensitivity 20 – 100 % Defines the steering sensitivity at very low speeds (i.e., at near zero
0x4132 0x00 6553 – 32767 traction rpm), as a percentage of the programmed Position Kp.
Sensitivity is typically reduced at low speeds to prevent excessive
hunting for the commanded position.
HS Sensitivity 20 – 100 % Defines the steering sensitivity at high speeds, as a percentage
0x4133 0x00 6553 – 32767 of the programmed Position Kp.
Sensitivity is typically reduced at high speeds to make the vehicle
easier to drive.
Low Speed 0 – 32767 rpm
•
n
Defines the speed at which 100% sensitivity will be applied, as the
0x4134 0x00 0 – 32767 vehicle accelerates.
Mid Speed 0 – 32767 rpm
•
n
Defines the speed at which 100% sensitivity will start to decrease
0x4135 0x00 0 – 32767 to the programmed HS Sensitivity value as the vehicle accelerates.
High Speed 0 – 32767 rpm
•
n
Sets the speed at and above which the programmed HS Sensitivity
0x4136 0x00 0 – 32767 value will be applied.
3 — PROGRAMMABLE PARAMETERS: Steering Sensitivity
Parameters
Fig. 16 Steering Sensitivity Map.
X (RPM) Y (%)
A 0 LS Sensitivity
B Low Speed 100%
C Mid Speed 100%
D High Speed HS Sensitivity
The map adjusts the proportional gain (Position Kp) as
a function of traction speed.
The steering sensitivity map is shaped by the settings
of the five parameters in the Steering Sensitivity menu,
with the two sensitivity parameters along the Y axis
and the three speed parameters along the X axis.
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